/**
 * @file topic.cpp
 * @author Peter Evers
 * @date Februari 2013
 */

#include "topic/topic.h"

/**
 * Namespace for all topics used.
 */
namespace Topic {
	std::string JOINTSTATES				= "joint_states";			/*!< Publisher for joint states. */
	std::string NAV_VELOCITY			= "/nav_velocity";			/*!< Topic for Navigation */
	std::string NAV_LINEAR				= "/nav_velocity/linear";	/*!< Topic for linear position navigation */
	std::string NAV_ANGULAR				= "/nav_velocity/angular";	/*!< Topic for angular position navigation */

	std::string EMO_STATE				= "Emotion_State";			/*!< Emotion State. */

	std::string EMO_HANDLER_EARS		= "EHandler_Ears";			/*!< Emotion Handler Ear control. */
	std::string EMO_HANDLER_EYES		= "EHandler_Eyes";			/*!< Emotion Handler Eye control. */
	std::string EMO_HANDLER_TRUNK		= "EHandler_Trunk";			/*!< Emotion Handler Trunk control. */
	std::string EMO_HANDLER_BROW		= "EHandler_Brow";			/*!< Emotion Handler Eyebrow control. */
	std::string EMO_HANDLER_GRIPPER		= "EHandler_Gripper";		/*!< Emotion Handler Gripper control. */

	std::string PS3_JOY					= "/joy";					/*!< Topic for PS3 Controller */
	std::string AR_POSE					= "/ar_pose_marker";

	std::string MOTOR_EARS				= "/motor_ears";			// motor topic ears
	std::string MOTOR_TRUNK				= "/motor_trunk";			// motor topic trunk
	std::string MOTOR_BROW				= "/motor_brow";			// motor topic eyebrows
	std::string MOTOR_GRIPPER			= "/motor_gripper";			// motor topic gripper

	std::string GRIPPER_STATUS			= "/status_gripper";
	std::string TRUNK_STATUS			= "/status_trunk";
	std::string EARS_STATUS				= "/status_ears";
	std::string EYEBROWS_STATUS			= "/status_eyebrows";
	std::string WHEELS_STATUS			= "/status_wheels";

	std::string SENSOR_GRIPPER			= "/sensor_gripper";

	std::string EYES_LEFT_YAW			= "/left_controller/command";
	std::string EYES_RIGHT_YAW			= "/right_controller/command";
	std::string EYES_PITCH				= "/tilt_controller/command";

	std::string EYES_LEFT_STATUS		= "/left_controller/state";
	std::string EYES_RIGHT_STATUS		= "/right_controller/state";
	std::string EYES_PITCH_STATUS		= "/tilt_controller/state";
}
